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reduce jitter due to viewer interpolators on objects that are really almost at rest

avinationmerge
UbitUmarov 2015-10-13 23:03:51 +01:00
parent 2e2c1a1fcd
commit 9ec9eee75f
1 changed files with 87 additions and 37 deletions
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124
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
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@ -109,7 +109,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
private int body_autodisable_frames; private int body_autodisable_frames;
public int bodydisablecontrol; public int bodydisablecontrol = 0;
private float m_gravmod = 1.0f; private float m_gravmod = 1.0f;
// Default we're a Geometry // Default we're a Geometry
@ -1633,7 +1633,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
UpdateCollisionCatFlags(); UpdateCollisionCatFlags();
ApplyCollisionCatFlags(); ApplyCollisionCatFlags();
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
} }
} }
resetCollisionAccounting(); resetCollisionAccounting();
@ -1788,9 +1790,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetAutoDisableFlag(Body, true); d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames); d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
d.BodySetAutoDisableAngularThreshold(Body, 0.01f); d.BodySetAutoDisableAngularThreshold(Body, 0.05f);
d.BodySetAutoDisableLinearThreshold(Body, 0.01f); d.BodySetAutoDisableLinearThreshold(Body, 0.05f);
d.BodySetDamping(Body, .005f, .001f); d.BodySetDamping(Body, .008f, .005f);
if (m_targetSpace != IntPtr.Zero) if (m_targetSpace != IntPtr.Zero)
{ {
@ -1872,15 +1874,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
createAMotor(m_angularlock); createAMotor(m_angularlock);
} }
if (m_isSelected || m_disabled) if (m_isSelected || m_disabled)
{ {
d.BodyDisable(Body); d.BodyDisable(Body);
_zeroFlag = true;
} }
else else
{ {
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
_zeroFlag = false;
bodydisablecontrol = 0;
} }
_parent_scene.addActiveGroups(this); _parent_scene.addActiveGroups(this);
} }
@ -2634,7 +2638,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (!childPrim) if (!childPrim)
{ {
if (Body != IntPtr.Zero && !m_disabled) if (Body != IntPtr.Zero && !m_disabled)
{
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
}
} }
// else if (_parent != null) // else if (_parent != null)
// ((OdePrim)_parent).ChildSelectedChange(false); // ((OdePrim)_parent).ChildSelectedChange(false);
@ -2664,7 +2671,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
FixInertia(newPos); FixInertia(newPos);
if (!d.BodyIsEnabled(Body)) if (!d.BodyIsEnabled(Body))
{
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
}
} }
} }
else else
@ -2675,7 +2685,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_position = newPos; _position = newPos;
} }
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
}
} }
} }
else else
@ -2733,7 +2746,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
createAMotor(m_angularlock); createAMotor(m_angularlock);
} }
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
}
} }
} }
else else
@ -2788,7 +2804,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_position = newPos; _position = newPos;
} }
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
}
} }
} }
else else
@ -3265,14 +3284,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// let vehicles sleep // let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
return; return;
if (++bodydisablecontrol < 20)
return;
if (++bodydisablecontrol < 50)
return;
// clear residuals
d.BodySetAngularVel(Body,0f,0f,0f);
d.BodySetLinearVel(Body,0f,0f,0f);
_zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
bodydisablecontrol = -4;
} }
bodydisablecontrol = 0; if(bodydisablecontrol < 0)
bodydisablecontrol ++;
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
@ -3440,6 +3465,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
{ {
bool bodyenabled = d.BodyIsEnabled(Body); bool bodyenabled = d.BodyIsEnabled(Body);
if(bodydisablecontrol < 0)
return;
if (bodyenabled || !_zeroFlag) if (bodyenabled || !_zeroFlag)
{ {
bool lastZeroFlag = _zeroFlag; bool lastZeroFlag = _zeroFlag;
@ -3532,23 +3561,60 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// use positions since this are integrated quantities // use positions since this are integrated quantities
// tolerance values depende a lot on simulation noise... // tolerance values depende a lot on simulation noise...
// use simple math.abs since we dont need to be exact // use simple math.abs since we dont need to be exact
if(!bodyenabled)
if (!bodyenabled ||
(Math.Abs(_position.X - lpos.X) < 0.005f)
&& (Math.Abs(_position.Y - lpos.Y) < 0.005f)
&& (Math.Abs(_position.Z - lpos.Z) < 0.005f)
&& (Math.Abs(_orientation.X - ori.X) < 0.0005f)
&& (Math.Abs(_orientation.Y - ori.Y) < 0.0005f)
&& (Math.Abs(_orientation.Z - ori.Z) < 0.0005f) // ignore W
)
{ {
_zeroFlag = true; _zeroFlag = true;
} }
else else
_zeroFlag = false; {
float poserror;
float angerror;
if(_zeroFlag)
{
poserror = 0.01f;
angerror = 0.001f;
}
else
{
poserror = 0.005f;
angerror = 0.0005f;
}
if (
(Math.Abs(_position.X - lpos.X) < poserror)
&& (Math.Abs(_position.Y - lpos.Y) < poserror)
&& (Math.Abs(_position.Z - lpos.Z) < poserror)
&& (Math.Abs(_orientation.X - ori.X) < angerror)
&& (Math.Abs(_orientation.Y - ori.Y) < angerror)
&& (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
)
_zeroFlag = true;
else
_zeroFlag = false;
}
// update position
if (!(_zeroFlag && lastZeroFlag))
{
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
}
// update velocities and aceleration // update velocities and aceleration
if (!(_zeroFlag && lastZeroFlag)) if (_zeroFlag || lastZeroFlag)
{
// disable interpolators
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
}
else
{ {
d.Vector3 vel = d.BodyGetLinearVel(Body); d.Vector3 vel = d.BodyGetLinearVel(Body);
@ -3591,26 +3657,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_rotationalVelocity.Y = vel.Y; m_rotationalVelocity.Y = vel.Y;
m_rotationalVelocity.Z = vel.Z; m_rotationalVelocity.Z = vel.Z;
} }
// }
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
} }
if (_zeroFlag) if (_zeroFlag)
{ {
if (lastZeroFlag)
{
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
}
if (!m_lastUpdateSent) if (!m_lastUpdateSent)
{ {
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();